Modelling and Simulation

Modelling of Mechanical Systems

Lecture-1

6 March 2023
Dr. Sameh Farid
Assistant Professor
Dr. Sameh Farid 1
 Ground Rules
• Mute your mobile during the lecture.

• No late excuse will be accepted.

• No one is allowed to attend the lecture without the tools.

• Student’s responsibility to
keep informed of any announcements,
syllabus adjustments,
policy changes.

3/6/2023
Dr.
Sa
• Home works will be graded only if they are written neatly. meh
2 Fari
d
 Course Work Grade Distribution

• Final exam = 40 Marks

• Mid-term exam= 15 Marks

• Best ??? quizzes (out of ???) = 15 marks

• Mini Project = 10 marks (2 Students/Group)

• Participation (Lecture + Tutorial) = 5 marks

• Research + Presentation = 5 marks

• Tutorial Quizzes= 10 marks 3

 Course Content
• Modelling.
– Modelling of mechanical elements and systems.
– Modelling of electrical elements and systems.
– Modelling of electromechanical systems.
– Modelling of Fluid elements and systems.
– Modelling of Thermal elements and systems.
– Modelling of mechatronic systems.

• Simulation.
– Simulation of systems using MATLAB.
– Simulation of systems using Simulink.
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 Outline of this Lecture

• Introduction

• Part-I: Translational Mechanical System

• Part-II: Rotational Mechanical System

• Part-III: Mechanical Linkages

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 Outline of this Lecture

• Introduction

• Part-I: Translational Mechanical System

• Part-II: Rotational Mechanical System

• Part-III: Mechanical Linkages

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 What is Modelling?

Modeling is the art of obtaining a quantitative description of system

or one of its elements that is:
• simple enough to be useful for making predictions and
• realistic enough to trust those predictions.

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 Types of Systems

• Static System:

If a system does not change with time, it is called a static system.

• Dynamic System:

If a system changes with time, it is called a dynamic system.

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 Dynamic Systems
• A system is said to be dynamic if:
its current output may depend on the past history as well as
the present values of the input variables.
• Mathematically,
𝑦(𝑡) = 𝑓[𝑢(𝜏)] , 0 ≤ 𝜏 ≤ 𝑡
𝑢: Input, 𝑡: Time
Example: A moving mass
y
Model: Force=Mass x Acceleration u

My = u M
Examples of Dynamic Systems
 Ways to Study a System
System
Experiment with Experiment with a
actual System model of the System

Physical Model Mathematical Model

Analytical Solution Simulation

Frequency Domain Time Domain Hybrid Domain

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 Model

• A model is a simplified representation or abstraction of reality.

• Reality is generally too complex to copy exactly.
• Much of the complexity is actually irrelevant in problem solving.

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 What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that describes
the input-output behavior of a system.

What is a model used for?

• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
 Black Box Model
• When only input and output are known.
• Internal dynamics are either too complex or unknown.

Input Output

• Easy to Model

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 Grey Box Model

• When input and output and some information about the internal
dynamics of the system is known.

u(t) y(t)
y[u(t), t]

• Easier than white box Modelling.

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 White Box Model
• When input and output and internal dynamics of the system is
known.

u(t) y(t)
𝑑𝑦(𝑡) 𝑑𝑢(𝑡) 𝑑 2 𝑦(𝑡)
=3 −
𝑑𝑡 𝑑𝑡 𝑑𝑡 2

• One should have complete knowledge of the system to derive a

white box model.

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Basic Types of Mechanical Systems
• Translational
– Linear Motion

• Rotational
– Rotational Motion

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Translational
Mechanical Systems
Part-I

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Basic Elements of Translational Mech Systems
Translational
Spring
i)

Translational
ii) Mass

Translational
iii) Damper

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 Translational Spring
A translational spring:
• It is a mechanical element that can be deformed by an external force.
• The deformation is directly proportional to the force applied to it.

Translational
Spring
i)

Translational Spring
Circuit Symbols
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 Translational Spring
• If F is the applied force x1
x2

• Then 𝑥1 is the deformation if 𝑥2 = 0 F

• Or 𝑥1 − 𝑥2 is the deformation. F

• The equation of motion is given as 𝐹 = 𝑘 𝑥1 − 𝑥2

Where 𝑘: is stiffness of spring expressed in 𝑁/𝑚.

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 Translational Mass
Translational
• Translational Mass is an inertia element. ii) Mass

• A mechanical system without mass does not exist.

• If a force 𝐹 is applied to a mass and it is displaced to 𝑥 meters then the

relation b/w force and displacements is given by Newton’s law.

x(t )
F = Mx F (t )
M

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 Translational Damper
Translational
iii) Damper

• When the viscosity or drag is not negligible in a system,

we often model them with the damping force.

• All the materials exhibit the property of damping to some extent.

• If damping in the system is not enough then extra elements (e.g. Dashpot)
are added to increase damping.

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 Common Uses of Dashpots
Door Stoppers
Vehicle Suspension

Bridge Suspension
Flyover Suspension

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 Translational Damper

F = Cx F = C( x1 − x2 )

• Where C is damping coefficient (N/ms-1).

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 Modeling a Simple Translational System
• Example-1:
Consider a simple horizontal spring-mass system on a frictionless
surface, as shown in figure below.

𝑚𝑥ሷ = −𝑘𝑥

𝑚𝑥ሷ + 𝑘𝑥 = 0

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Example-2
• Consider the following system (friction is negligible)

k
x
F
M

• Free Body Diagram

fk
M fM
F

Where 𝑓𝑘 and 𝑓𝑀 are force applied by the spring and inertial force
respectively.

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Example-2
fk
M fM
F

𝐹 = 𝑓𝑘 + 𝑓𝑀
• Then the differential equation of the system is:
𝐹 = 𝑀𝑥ሷ + 𝑘𝑥

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Example-3
• Consider the following system

k
x
• Free Body Diagram F
M

C
𝐹 = 𝑓𝑘 + 𝑓𝑀 + 𝑓𝐶
fk fC
• Differential equation of the system is: M fM
F
𝐹 = 𝑀𝑥ሷ + 𝐶 𝑥ሶ + 𝑘𝑥
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Example-4
• Consider the following system

• Free Body Diagram (same as example-3)

fk fB
M fM
F

𝐹 = 𝑓𝑘 + 𝑓𝑀 + 𝑓𝐵

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Example-5
• Consider the following system
x2

x1 k B
F M

• Free Body Diagram

0 = 𝑘(𝑥2 − 𝑥1 ) + 𝑀𝑥ሷ 2 + 𝐵𝑥ሶ 2

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Example-6
• Find the mathematical model of the following system.

𝑴𝟏 𝑩 𝑴𝟐

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Example-7

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Example-8

x2 x3
x1
k1 B3 B4

u(t ) B1 M1 k2 M2 k3

B2 B5

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Example-9
• Find the mathematical modelling of the mechanical translational system
given in Figure-1.
Free Body Diagram
fk fB

Figure-1 𝑓(𝑡) = 𝑓𝑘 + 𝑓𝑀 + 𝑓𝐵
M

f (t ) fM

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Example-10
• Restaurant plate dispenser

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Example-11
• Find the mathematical modelling of the following system.

Free Body Diagram

f k1 f k f B f k1 fB
2

M2 M1

k2 F (t ) f M 2 f M1

𝐹(𝑡) = 𝑓𝑘1 + 𝑓𝑘2 + 𝑓𝑀2 + 𝑓𝐵

0 = 𝑓𝑘1 + 𝑓𝑀1 + 𝑓𝐵
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Example-12: Automobile Suspension

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Automobile Suspension

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 Automobile Suspension

𝑚𝑥ሷ 𝑜 + 𝑏(𝑥ሶ 𝑜 − 𝑥ሶ 𝑖 ) + 𝑘(𝑥𝑜 − 𝑥𝑖 ) = 0 (eq .1)

𝑚𝑥ሷ 𝑜 + 𝑏𝑥ሶ 𝑜 + 𝑘𝑥𝑜 = 𝑏𝑥ሶ 𝑖 + 𝑘𝑥𝑖 (eq. 2) 40
Example-13: Train Suspension

Car Body
Bogie-2
Bogie-1
Secondary

Suspension
Bogie

Frame
Primary
Wheelsets
Suspension

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Example-13: Train Suspension

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Rotational Mechanical
Systems
Part-I

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Basic Elements of Rotational Mechanical Systems
Rotational Spring

1
2

T = k (1 −  2 )

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Basic Elements of Rotational Mechanical Systems
Rotational Damper

C
1
2 T

T = C(1 − 2 )

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Basic Elements of Rotational Mechanical Systems
Moment of Inertia


J T

𝑇 = 𝐽𝜃ሷ

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Example-1:

B1
1 k1  2 3 k2
T J1 J2

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Example-2:

1 k1  2 B2 B4
3
T J1 J2

B1 B3

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Example-3:

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Example-4:

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Mechanical Linkages
Part-III

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 Gear
Gear is a toothed machine part, such as a wheel or cylinder, that
meshes with another toothed part to transmit motion or to change
speed or direction.

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 Fundamental Properties
• The two gears turn in opposite directions:
one clockwise and the other counterclockwise.

• Two gears revolve at different speeds when number of teeth on

each gear are different.

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 Mechanical Advantage
Anyone who has ridden a 10-speed bicycle knows the effect of
gearing.

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 Mechanical Advantage
more torque and ………….speed.
Going uphill, you shift to provide …………… less

On the straightaway, you shift to obtain more speed and less torque.

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 Gearing Up and Down
• Gearing up is able to convert torque to velocity.

• The more velocity gained, the more torque sacrifice.

• The ratio is exactly the same: if you get three times your original
angular velocity, you reduce the resulting torque to one third.

• This conversion is symmetric: we can also convert velocity to

torque at the same ratio.
• The price of the conversion is power loss due to friction.
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 Why Gearing is necessary?
• A typical DC motor operates at speeds that are far too high to be
useful, and at torques that are far too low.
Gear
• ………………….is the standard method by which a motor is made useful.
reduction
Right-Angle Compact Square Face
DC Gearmotors DC Gearmotors

Compact Round-Face
DC Gearmotors

DC Gearmotors 57
• Rated Voltage : 24V DC
• No Load Speed : 20 RPM
• No Load Current: 0.1 A
• Rated Speed : 15.4 RPM
• Rated Current : 0.6 A
• Rated Torque : 34 Kg.cm 58
 Gear Trains

As the gears turn, the distance traveled along each

gear’s circumference is the same.

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 Gear Trains
What is the relationship between the input torque, 𝑇1 ,and the delivered torque,
𝑇2 ?
we assume the gears are lossless
they do not absorb or store energy
The energy into Gear 1 = the energy out of Gear 2

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 Example 1
We want to represent as an equivalent system at 𝜃1 without the gears.
In other words, eliminating the gears?

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 Gear Ratio
• You can calculate the gear ratio by using the number of teeth of
the driver divided by the number of teeth of the follower.
• We gear up when we increase velocity and decrease torque.
Ratio: 3:1
• We gear down when we increase torque and reduce velocity.
Ratio: 1:3

# 𝒕𝒆𝒆𝒕𝒉 𝒊𝒏𝒑𝒖𝒕 𝒈𝒆𝒂𝒓

𝑮𝒆𝒂𝒓 𝑹𝒂𝒕𝒊𝒐 = Driver
# 𝒕𝒆𝒆𝒕𝒉 𝒐𝒖𝒕𝒑𝒖𝒕 𝒈𝒆𝒂𝒓 Follower
𝒕𝒐𝒓𝒒𝒖𝒆 𝒊𝒏 speed out
= =
𝒕𝒐𝒓𝒒𝒖𝒆 𝒐𝒖𝒕 speed in

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 Example of Gear Trains
• A most commonly used example of gear trains is the gears of an automobile.

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 Mathematical Modeling of Gear Trains
• Gears increase or reduce angular velocity (while simultaneously
decreasing or increasing torque, such that energy is conserved).

Energy of Driving Gear = Energy of Following Gear

𝑁1 𝜃1 = 𝑁2 𝜃2

N1 Number of Teeth of Driving Gear

1 Angular Movement of Driving Gear

N2 Number of Teeth of Following Gear

2 Angular Movement of Following Gear

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 Mathematical Modeling of Gear Trains
• In the system below, a torque, τa, is applied to gear 1 (with number of teeth N1,
moment of inertia J1 and a rotational friction B1).
• It, in turn, is connected to gear 2 (with number of teeth N2, moment of inertia J2
and a rotational friction B2).
• The angle θ1 is defined positive clockwise, θ2 is defined positive clockwise. The
torque acts in the direction of θ1.
• Assume that TL is the load torque applied by the load connected to Gear-2.

N2
N1
B1

B2 65
 Mathematical Modeling of Gear Trains
• For Gear-1

 a = J11 + B11 + T1 Eq (1)

N2
N1
• For Gear-2
B1

T2 = J 22 + B22 + TL Eq (2)

B2
• Since

N11 = N 2 2

• therefore
N1
2 = 1 Eq (3)
N2 66
 Mathematical Modeling of Gear Trains
• Gear Ratio is calculated as
T2 N2 N1
=  T1 = T2
T1 N1 N2 N2
N1
• Put this value in eq (1) B1

  N1
 a = J11 + B11 + T2
N2 B2

• Put T2 from eq (2)

  N1
 a = J11 + B11 + ( J 22 + B22 + TL )
N2
• Substitute θ2 from eq (3)
  N1 N1  N1  N1
 a = J11 + B11 + (J2 1 + B2 2 + TL )
N2 N2 N2 N2 67
 Mathematical Modeling of Gear Trains
  N1 N1  N1  N1
 a = J11 + B11 + (J2 1 + B2 2 + TL )
N2 N2 N2 N2
• After simplification
2 2
  N1     N1  N
 a = J11 +   J 21 + B11 +   B21 + 1 TL
 N2   N2  N2
  N1 
2    N1 
2  N1

 a = J1 +     
J 2 1 + B1 +   
 B2 1 + TL
  N2     N2   N2
   
2 2
 N1   N1 
J eq = J1 +   J 2 Beq = B1 +   B2
 N2   N2 

  N1
 a = J eq1 + Beq1 + TL
N2 68
 Mathematical Modeling of Gear Trains

• For three gears connected together

2 2 2
 N1   N1   N3 
J eq = J1 +   J 2 +     J 3
 N2   N2   N4 

2 2 2
 N1   N1   N3 
Beq = B1 +   B2 +     B3
 N2   N2   N4 

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 Home Work
Drive relation between applied torque 𝑇𝑚 and load torque 𝑇𝐿 for three gears
connected together. (Solved Examples A–5–2. in Ogata 5th Ed).

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Thanks for your attention

6 March 2023
Dr. Sameh Farid 71
Example 1

Now convert 𝜃2 (𝑠) into an equivalent 𝜃1 (𝑠)

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